How to switch planning group with MoveIts MoveGroupInterface
Greetings. I want to control a robot (UR10) with the MoveIt C++ API MoveGroupInterface
.
For that I wrote a action server which uses the API for path planning and trajectory execution. The robot has multiple planning groups, as there are multiple grippers involved. With the MoveGroupInterface
I have to specify the planning group when I initialize it. Also afaik MoveGroupInterface
has no setter for the planning group name, therefore I cannot change it dynamically. It makes sense to just have one MoveGroupInterface
, but from my point of view it doesn't make sense not to give to option to switch between planning groups.
Since there are no good tutorials on the MoveIt2 C++ API I hope you could guide me in the right direction. What is the proper way to use MoveIt with multiple planning groups?